Muwanx is a browser-based mujoco playground built on top of MUjoco WAsm, onNX runtime, and three.js. It enables MuJoCo simulations with real-time trained policy control, running entirely in the browser - no server for simulation required.
Perfect for sharing interactive demos as static sites (which can be hosted on GitHub Pages), rapidly prototyping RL policies, or building customizable environments for experimentation and visualization.

╰▶ Live Demo: MyoSuite   © MyoSuite
╰▶ Live Demo: MuJoCo Menagerie   © Google DeepMind
╰▶ Live Demo: MuJoCo Playground   © Google DeepMind

• Real-time: Run MuJoCo simulations with real-time policy control.
• Interactive: Change the state of objects by applying forces.
• Cross-platform: Works seamlessly on desktop and mobile devices.
• VR Support: Native VR viewer with WebXR for immersive simulation experiences.
• Client-only: All computation runs in the browser. No server for simulation is required.
• Easy Sharing: Host as a static site for effortless demo distribution (e.g., GitHub Pages).
• Customizable: Add your own MuJoCo models and ONNX policies quickly.

To run muwanx locally, ensure you have Node.js installed.

Clone the repository:

git clone https://github.com/ttktjmt/muwanx.git
cd muwanx

Install the dependencies and start the development server:

npm install
npm run dev

Open your browser and navigate to the localhost URL shown in the terminal.

Muwanx is available as an npm package for building interactive mujoco simulation applications with policy controls.

npm install muwanx

Please refer to the usage guide for detailed instructions on building applications with muwanx.

Muwanx incorporates mujoco models from the external sources in its demo. See the respective submodule for full details, including individual model licenses and copyrights. All models are used under their respective licenses. Please review and comply with those terms for any use or redistribution.

MyoSuite License ･ MuJoCo Menagerie License ･ MuJoCo Playground License

This project was greatly inspired by the Facet project demo from the research group at Tsinghua University.
It is also built upon the excellent work of zalo/mujoco_wasm, one of the earliest efforts to run MuJoCo simulations in a browser.

This project is licensed under the Apache-2.0 License.